Method and apparatus for control of multiple autonomous mobile nodes based on dynamic situational awareness data

ABSTRACT

Techniques for autonomously establishing, maintaining, and repairing of a wireless communication network among multiple autonomous mobile nodes (AMN) are provided. The multiple AMNs are flown towards a first node. A tentacle is established with the first node and extended to cover a second node over a distance, thereby establishing a wireless communication network between the first node and the second node via the multiple AMNs. Any damage to the established wireless communication network or tentacle may be autonomously detected and repaired by using spare AMNs. Further, the communication network may be used to enable autonomous detection, tracking of the second node, as well as autonomous detection of a contamination area, based on data received from one or more sensors onboard the AMNs deployed in the air.

CLAIM OF PRIORITY UNDER 35 U.S.C. §119

This application for Patent claims priority to U.S. ProvisionalApplication No. 62/000,450, titled “Method and Apparatus for PilotlessFlying Control of Multiple Autonomous Mobile Vehicles Based on DynamicSituational Awareness Data,” filed on May 19, 2014; and U.S. ProvisionalApplication No. 62/000,398, titled “Method and Apparatus forBiologically Inspired Autonomous Infrastructure Monitoring,” filed onMay 19, 2014, the entire content of both of which are incorporated byreference herein.

BACKGROUND

Aspects of the present disclosure relate generally to wirelesscommunication, and more particularly, to device embedded with techniquesfor establishing and maintaining wireless communications between two ormore nodes via a plurality of autonomous mobile (AMN) nodes.

Unmanned mobile vehicles are often useful in various military andcivilian applications. Maintaining constant and reliable communicationbetween mobile entities, distributed across a large geographical area isa crucial task for many commercial and military applications. Forexample, when teams of people are deployed in hostile or sensor deprivedenvironments in the absence of fixed communication infrastructure,maintaining radio contact with a base station would drastically increasethe efficiency of coordinating the deployment, yet maintainingcommunications should not interfere with the primary tasks of theseentities.

Conventionally, most autonomous mobile nodes, including unmanned aerialvehicles (UAVs), are operated remotely by human operators with the ratioof one or more operators per node. As such, forming a mobilecommunication network with multiple remotely controlled UAVs can beprohibitively costly and very inefficient because the required number ofhuman operators may grow very quickly. Further, the operators need tocontrol the deployed UAVs, while coordinating with others to monitor theperformance of the deployed communications network. A feasible solutionmust address several issues such as a limited range of wirelesscommunications, coordinating the motion of multiple mobile nodes in adistributed manner without direct human control via wirelesscommunication, utilizing heterogeneous nodes efficiently and securely,dealing with unplanned damage seamlessly and safely, enabling anoperator to monitor and override any node in the network in case ofobserved malfunctions, etc. Further, with existing technologies, thecontrolling and monitoring of multiple autonomous mobile nodes issub-optimal and inefficient (often done manually by the operators), andfurther there is no effective mechanism to deal with airborne,autonomous mobile node failures once deployed in the air.

Thus, there is a need for systems and techniques for enhanced, efficientcontrolling and monitoring of multiple autonomous mobile nodes, andeffective mechanism to deal with failures of the autonomous mobile nodesdeployed in the air.

SUMMARY

The following presents a simplified summary of one or more aspects inorder to provide a basic understanding of the present disclosure. Thissummary is not meant to be an extensive overview of all contemplatedaspects, and is thus intended to neither identify key or criticalelements of all aspects nor delineate the scope of any or all aspects.Its sole purpose is to present some concepts of one or more aspects in asimplified form as a prelude to the more detailed description that ispresented later.

The present technology described herein addresses one or more problemswith the existing technologies, by enabling multiple autonomous mobilenodes (AMNs) or apparatuses, such as unmanned aerial vehicles (UAVs), toautonomously control themselves based on network performance and otheronboard sensor data measurements in real time. Further, the presenttechnology provides solutions to one or more issues of existingtechnologies, such as a limited range of wireless communications,coordinating the motion of AMNs in a distributed manner and preventingthe formation of a suboptimal network, dealing with AMN failures, repairand reinforcement of critical locations of the communication network.For example, to overcome the limited range of wireless communications,the present technology disclosed herein provides a highly mobile ad-hocnetwork in which the AMNs route their data traffic (e.g. communicationdata, sensor data, command and response data, etc.) through theirneighboring AMNs or stationary nodes if they are part of the samewireless network.

In an aspect, the present disclosure may use signal strength informationof wireless communication signals received by its onboard communicationradio to determine its mobile (e.g. flying) behavior, thereby allowingthe autonomous mobile node to control its wirelessconnections/disconnections and minimize the effects of environmentalfactors on the wireless network. In another aspect, motions ofautonomous mobile nodes equipped with the present technology arecontrolled in a distributed manner, preventing a formation of suboptimalnetworks but enabling the continuous improvement towards an optimalnetwork. Further, in another aspect, the present disclosure may convertreceived wireless signal information, such as signal quality, fromadjacent autonomous mobile nodes into field information including fieldseach having attractive and repulsive properties, based on certainthresholds. Using the strength and direction information of these fieldsin connection with virtual fields from certain types of nodes that areout of a range, such as destination nodes on the ground, the presenttechnology can control each autonomous mobile node autonomously andaccomplish mission objectives (e.g., rapid communication backbonedeployment, object detection and tracking, geo-location, etc.) in adistributed manner.

Further, in an aspect, the present disclosure enables flyingheterogeneous mobile nodes from one point to another in a safe manner.Since most of the heterogeneous mobile nodes, such as UAVs, have somelimited autopilot capabilities based on global positioning system (GPS)guidance, the present technology described herein can be used inconjunction with the autopilot capabilities such that data relating toproximity sensors and/or signal strength from neighboring autonomousmobile nodes is used to ensure both safety and success of a givenmission. In another aspect, any spare autonomous mobile nodes can beused to proactively reinforce critical locations of the wirelesscommunications network to minimize repair time in the event of failure.Also, in accordance with certain aspects, the effectiveness of thepresent technology described herein may be maximized by dynamicallytuning radio signal transmission/reception parameters during runtimebased on collected information about environmental and trafficconditions. Further, in accordance with certain aspects of the presentdisclosure, one or more operators are enabled to monitor multipleautonomous mobile nodes through a unified interface. The control datarelating to the multiple autonomous mobile nodes can be relayed back,via the formed ad-hoc network, to a central location for the one or moreoperators who can interact with and control the multiple autonomousmobile nodes, when necessary.

In an aspect, the present disclosure provides a method for collaborativecommunication by autonomously establishing and maintaining a wirelesscommunication network between two or more designated mobile orstationary nodes at a distance that prevents them from having directcommunications. In particular, an autonomous mobile apparatus fliestowards the first designated node until a reliable wirelesscommunication link with the first designated node is established. Thefirst designated node may include a first node on the ground. Then, theautonomous mobile apparatus is autonomously navigated to an edge of itscommunication range towards the next designated node, based at least inpart on data received from one or more autonomous mobile nodes deployedto form a wireless communication network. Repeating this process mayresult in the growth of a wireless communication network (or a tentacle)which, when completed, connects two designated nodes.

Further, in an aspect, it is determined whether there is a tentacleassociated between two designated nodes. When it is determined thatthere is a tentacle associated, any autonomous mobile apparatus that isnot already in the tentacle, will navigate along the tentacle and extendit.

In another aspect, a portion of the wireless communication network maybe determined to be damaged, and in such a case the damaged wirelesscommunication network may be autonomously repaired. Further, the portionof the wireless communication network may be determined to be damagedbased on a determination of whether one of the one or more autonomousmobile nodes that are deployed is out of communications. Also, theautonomous repair of the wireless communication network may be done byreplacing the one of the one or more autonomous mobile nodes that is outof communications with another autonomous mobile node coupled to thewireless communication network.

In an aspect, the data may include information on roles of the one ormore autonomous mobile nodes in the wireless communication network,signal strength, or quality of signals received from the one or moreautonomous mobile nodes.

In an aspect, establishing a plurality of wireless communication linksmay include navigating the one or more autonomous mobile nodes, based onfields determined from the received data from the one or more autonomousmobile nodes. Each field may be configured to include a field strengthcomponent and a velocity component and to result in attraction orrepulsion of the one or more autonomous mobile nodes toward each other.

In another aspect of the present disclosure, a method for collaborativesensing by seamlessly converting measurements from potentiallyheterogeneous sensors (e.g., chemical, biological, optical, magnetic,etc.) into a field strength is provided, which can influence the motionof networked one or more autonomous mobile nodes. This forms adistributed sensor network with capabilities to autonomously reinforcecritical locations, detect damage to the formed network and self-repair.An autonomous mobile apparatus is autonomously flown toward a first nodeon the ground. Wireless communications are established with the firstnode on the ground. The autonomous mobile apparatus then autonomouslynavigate to a location toward a second node on the ground based at leastin part on data received from the first node or received from one ormore autonomous mobile nodes deployed in the air to form a wirelesscommunication network.

In an aspect, whether there is a tentacle associated with the first nodemay be determined, in which the tentacle includes one or more wirelesscommunication links established by the one or more autonomous mobilenodes. When it is determined that there is a tentacle associated withthe first node, the autonomous mobile apparatus may navigate along thetentacle toward the location based at least in part on the data receivedfrom the one or more autonomous mobile nodes. Alternatively, when it isdetermined that there is no tentacle associated with the first node, theautonomous mobile apparatus may navigate toward the location based atleast in part on the received data from the first node. Further, thedata may include field information based on received signals from theone or more autonomous mobile nodes, and the field information mayinclude fields. Each field may be configured to include a field strengthcomponent and a velocity component and to result in attraction orrepulsion of the autonomous mobile apparatus. Also, the data may includeinformation on at least one of: roles of the one or more autonomousmobile nodes, signal strength, or quality of signals received from theone or more autonomous mobile nodes.

Further, whether a wireless communication link with a second node on theground has been established may be determined, and upon determining thatthe wireless communication link with the second node has beenestablished, the wireless communication network between the first nodeand the second node may be established via the autonomous mobileapparatus and the one or more autonomous mobile nodes deployed in theair.

In an aspect, whether the wireless communication network has beendamaged may be determined. A probe signal may be sent to a firstadjacent autonomous mobile node in the tentacle. In response to theprobe signal, a response signal may be received from the first adjacentautonomous mobile node within a period of time set by a timer.Alternatively, in response to the probe signal and upon expiration ofthe timer, the first adjacent autonomous mobile node may be determinedto be out of communications and the wireless communication network maybe determined to be damaged.

In another aspect, after determining that the wireless communicationnetwork has been damaged, communications may be performed with a secondadjacent autonomous mobile node to replace the first adjacent autonomousmobile node with another autonomous mobile node associated with thetentacle, and the wireless communication network may be re-establishedbetween the first node and the second node via the another autonomousmobile node.

In another aspect, the at least one processor is further configured toprocess the received data from the one or more sensors, detect presenceof a second node on the ground based on the processed data, andtransform the received data into the field information. The one or moresensors may be configured to include at least one image sensor.

In another aspect, the at least one processor is further configured to,upon detecting the presence of the second node on the ground,dynamically track movement of the second node on the ground.

In another aspect, the at least one processor is further configured torepresent the second node on the ground as a virtual node in determiningthe attractive and/or repulsive force, and navigate the autonomousmobile apparatus based on the field information.

In another aspect, the at least one processor is further configured tocapture a video on the movement of the second node on the ground, andtransmit the captured video to the first node via the tentacle.

In another aspect, the at least one processor is further configured toprocess the received data from the one or more sensors, determinewhether a second nod is present on the ground based on the receiveddata, and upon determining that the second node is present on theground, communicate to attract one or more autonomous mobile apparatusesto a location close to the second node on the ground. The one or moresensors may be configured to include at least one radio frequency (RF)geo-location sensor and the received data may include detectionprobability of RF signal emitted by the second node on the ground.Further, the at least one processor is further configured to transmit tothe first node a determined location of the second node on the groundvia the tentacle.

In another aspect, the at least one processor is further configured toprocess the received data from the one or more sensors, determinewhether a detected level of a target contaminant material is greaterthan or equal to a predetermined value. The at least one processor isfurther configured to, upon determining that the detected level of thetarget contaminant material is greater than or equal to thepredetermined value, communicate information on the detected level ofthe target contaminant material to the first node via the tentacle. Theone or more sensors may be configured to include at least one biologicalor chemical sensor, and the received data may include the detected levelof the target contaminant material. The at least one processor isfurther configured to determine a location of the detected targetcontaminant material, based on information received from the one or moreautonomous mobile apparatuses which detected the target contaminantmaterial.

In another aspect of the present disclosure, a method for collaborativenavigation by autonomously adapting to changes in designated nodes maybe provided. In this aspect, the designated nodes may be represented byvirtual locations or non-cooperative nodes. Varying the virtuallocations for each node over time may facilitate the formation ofdifferent network shapes and systematic navigation across a terrain.

Still another aspect of the present disclosure provides an autonomousmobile apparatus including at least one processor and a memory coupledto the at least one processor. The autonomous mobile apparatus isconfigured to execute various functions or aspects of the presentdisclosure described herein. The at least one processor may beconfigured to navigate the autonomous mobile apparatus toward a firstnode on the ground, and receive data from one or more sensors onboardthe autonomous mobile apparatus. The at least one processor may befurther configured to convert the received data into field information,and the field information may include fields each configured to includean attractive force or a repulsive force. Further, the at least oneprocessor may be further configured to, based on the field information,navigate the autonomous mobile apparatus. The one or more sensors mayinclude at least one of: a radio geo-location sensor, an image sensor, achemical sensor, or a biological sensor.

In an aspect, the at least one processor may be configured to determinewhether there is a tentacle established with the first node, thetentacle being configured to include one or more wireless communicationlinks established by one or more autonomous mobile apparatuses. Further,the at least one processor may be configured to, when it is determinedthat there is a tentacle established with the first node, navigate theautonomous mobile apparatus along the tentacle toward a location basedon the field information, or alternatively, when it is determined thatthere is no tentacle established with the first node, establish thetentacle with the first node.

In another aspect, the at least one processor may be configured todetermine whether a second node on the ground is within a wirelesscommunications range of the autonomous mobile apparatus, and upondetermining that the second node on the ground is within the wirelesscommunications range of the autonomous mobile apparatus, establish awireless communications link with the second node on the ground, therebyestablishing a wireless communication network between the first node andthe second node on the ground.

In another aspect, a non-transitory computer readable medium storingcomputer executable code for performing various functions or aspects ofthe present disclosure is provided. The non-transitory computer readablemedium includes code or instructions for causing one or more processorsto make decisions every few seconds or sooner for the purpose ofautonomously flying a mobile apparatus to form a wireless communicationnetwork, and perform various functions or aspects of the presentdisclosure as described earlier.

These and other aspects of the present technology will become more fullyunderstood upon a review of the detailed description, which followsbelow.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawing figures depict one or more implementations in accordancewith the present teachings, by way of example only, not by way oflimitation. In the figures, like reference numerals refer to the same orsimilar elements.

FIG. 1 is a conceptual diagram illustrating a wireless communicationsnetwork in accordance with certain aspects of the present disclosure.

FIG. 2 is an example of a flowchart for autonomously establishing awireless communication network in accordance with certain aspects of thepresent disclosure.

FIG. 3 is an example of a diagram illustrating transitions of differentroles of a node in accordance with certain aspects of the presentdisclosure.

FIG. 4 is an example of a profile of field experienced by a node inaccordance with certain aspects of the present disclosure.

FIG. 5 is a conceptual diagram illustrating fields guiding a nodetowards a (designated) destination node in accordance with certainaspects of the present disclosure.

FIG. 6 is an example of a diagram illustrating state transitions for awireless communication network in accordance with certain aspects of thepresent disclosure.

FIGS. 7A and 7B are an example diagram illustrating damage detection andrepair of a wireless communication network in accordance with certainaspects of the present disclosure.

FIG. 8 is an example flowchart in accordance with certain aspects of thepresent disclosure.

FIGS. 9A and 9B are example flowcharts in accordance with certainaspects of the present disclosure.

FIGS. 10A, 10B, and 10C are functional block diagrams and an example ofa graphical user interface conceptually illustrating an apparatus inaccordance with certain aspects of the present disclosure.

FIG. 11 illustrates a functional block diagram conceptually illustratinginteractions between a processing system and various on board sensors.

FIGS. 12A, 12B, and 12C conceptually illustrate components of anapparatus in certain aspects of the present disclosure.

FIGS. 13 and 14 conceptually illustrate collaborative navigation inaccordance with certain aspects of the present disclosure.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appendeddrawings is intended as a description of various configurations and isnot intended to represent the only configurations in which the conceptsdescribed herein may be practiced. The detailed description includesspecific details for the purpose of providing a thorough understandingof various concepts. However, it will be apparent to those skilled inthe art that these concepts may be practiced without these specificdetails. In some instances, well known structures and components areshown in block diagram form in order to avoid obscuring such concepts.

The present disclosure disclosed herein may also be known as“Biologically inspired Artificially Intelligent Reconfiguration”(“BioAIR”) system and techniques (“BioAIR Methodology”), which aredeveloped to coordinate airborne communication nodes such as unmannedaerial vehicles (UAV) in order to autonomously form and maintain dynamiccommunication networks. This system and techniques draw uponinspirations from biological cell differentiation through hormone basedcommunication to coordinate a swarm of airborne nodes, such asautonomous mobile nodes in a distributed manner by mapping the radio(sensor) signals into digital hormones.

The present disclosure offers at least three primary capabilities in asingle system: collaborative communication, sensing, and navigation. Forcollaborative communication, the present disclosure is able toautonomously create a mobile ad-hoc network connecting severaldesignated nodes by strategically positioning other nodes based on thedesired communication signal quality between them. This capabilityenables new applications such as rapidly deployable Internet and/orcommunication service in access denied environments. For collaborativesensing, the present disclosure is able to autonomously reinforcecritical locations based on network traffic, detect any damage to theformed network, and self-repair. Additionally, the present disclosurecan coordinate the sensing effort of heterogeneous sensors distributedamongst all nodes in the network to form a wide range of formations inresponse to the real-time sensor data and mission objectives. Thiscapability may be needed for applications such as communication inanti-access environments, remote sensing, geo-location, aerialsurveying, and border patrol, among others. For collaborativenavigation, the present disclosure is able to follow the motion ofdesignated nodes while maintaining the formed communication network,provided that the nodes can react fast enough. This capability may beneeded for applications such as target tracking, agricultural productcare, mobile escorting and perimeter defense.

As such, the present disclosure disclosed herein provides enhancedcapabilities as well as functionalities over any existing technologies,such as collaborative communication, sensing, and navigationsimultaneously as a single system for autonomous mobile nodes. Further,the present technology described herein provides a human operator withthe ability to monitor the performance and dynamically adjust behaviorsof the autonomous mobile nodes in real time.

FIG. 1 is a conceptual diagram illustrating a communications network inaccordance with certain aspects of the present disclosure. In an aspect,the present disclosure provides a distributed solution which coordinatesefforts of one or more autonomous mobile nodes, such as various types ofunmanned aerial vehicles, to achieve a robust wireless communicationnetwork between designated sites. In essence, the present technologydescribed herein enables collaborative communication among the one omore autonomous mobile nodes. As illustrated in FIG. 1, a communicationnetwork 100 includes one or more origin nodes 103 (e.g., Node 1), one ormore autonomous mobile nodes 105, 107, 109, and 111 (e.g., UAV1, UAV2,UAV3, and UAV4) and one or more destination nodes 113 (e.g., Node 2,Node 3). In the example, the origin nodes 103 or destination nodes 113may be mobile nodes or stationary nodes. Further, the one or more mobilenodes may include one or more unmanned aerial vehicles (UAVs) such asUAV1, UAV2, UAV3, UAV4, etc. Also, the one or more mobile nodes mayinclude a component, such as an artificial intelligence program (whichis not shown) such as, including but not limited to, an autonomousairborne communication component for establishing and maintainingwireless communications networks. That is, as described herein, eachunmanned airborne node (interchangeably used herein as “autonomousmobile node” or “autonomous mobile apparatus”) may include one or moreprocessing systems on board, such as the processing system 1001 (asshown in FIG. 10A) including an autonomous mobile communicationcomponent 1004 for implementing various aspects of the presenttechnology disclosed herein.

In another aspect, each autonomous mobile node may have uniqueidentification (ID) and/or Internet Protocol (IP) address assigned. Theunique IDs and/or IP addresses may be assigned before deployment for amission. In addition, or alternatively, the unique ID or IP address foreach autonomous mobile node can be dynamically assigned to theautonomous mobile node over a wireless communications link by a node onthe ground (e.g., Node 1) once the autonomous mobile node is deployed inthe air and comes in contact with the node on the ground.

Alternatively, a plurality of autonomous mobile nodes may be deployed onthe ground as well as in the air, and a designated autonomous mobilenode may take a role of a server in a server-client network environmentand dynamically assign the unique IDs and/or IP addresses to thedeployed plurality of autonomous mobile nodes on the ground as well asin the air. In another aspect, each of the autonomous mobile nodes maycommunicate with other autonomous mobile nodes deployed in the air todetermine a size of a wireless communication network for performing themission.

As shown in the example in FIG. 1, a communication network 100 may beestablished between two nodes—an origin node (or site) 103, such as Node1, and a destination node (or site) 113, such as Node 2 and/or Node 3,by forming a chain of communication links which comprises one or morewireless communication links 121, 123, 125, 127, and 129. In otherwords, in the example, a communication tentacle (or a tentacle) may beformed between the origin node 103 and the destination node 113. In thepresent disclosure, the word “tentacle” is used herein to mean a chainof communication links, or a chain of autonomous mobile nodesestablishing a communication link among the autonomous mobile nodes, ora chain of multiple wireless communication links established by one ormore autonomous mobile nodes. Thus, a tentacle as used herein mayinclude one or more wireless communication links originating from afirst node on the ground, e.g., Node 1. Further, a completecommunication tentacle between the origin node 103 and the destinationnode 113 may refer to a chain of nodes including, for example, Node 1,UAV1, UAV2, UAV3, UAV4, Node 2 and/or Node 3, as shown in FIG. 1.

As noted above, in FIG. 1, Node 1, Node 2, and Node 3 may be groundstations or mobile nodes. In other words, Node 1, Node 2, and Node 3 canbe either stationary nodes or moving nodes. Further, Node 1 may be aradio signal transmission and/or reception device or station. Also, Node2 or Node 3 may be a radio signal transmission and/or reception deviceor station. Alternatively, in an aspect of the present disclosure, Node1, Node 2 or Node 3 may include a destination, such as a group ofpeople, devices, vehicles, etc.

In an aspect, the autonomous mobile nodes 105, 107, 109, and 111 may belaunched or deployed from one or more nearby locations towards theorigin node 103, such as Node 1. Also, the autonomous mobile nodes maybe launched from anywhere at varying time intervals with some a prioriknowledge about the origin node 103 and the destination node 113, suchas geographical location information of the origin node 103 and thedestination node 113. Alternatively, when multiple origin nodes areavailable, an operator of the communication network 100 may choose whichone to assign for each autonomous mobile node prior to launch. Also, theautonomous mobile nodes 105, 107, 109, and 111 can be launched in anyorder. Further, in an aspect, the origin node 103 may be a traffic site(e.g., an area with a radio transmitter which can communicate with oneor more autonomous mobile nodes) from which a tentacle can originate.The destination node 113 may also be a traffic site (e.g., an area witha radio transmitter which can communicate with one or more autonomousmobile nodes) which the tentacle can grow to reach such that a wirelesscommunication network between the origin node 103 and the destinationnode 113 can be established.

In an aspect, the autonomous mobile nodes 105, 107, 109, and 111 can beprogrammed with certain data, such as a mission profile, before beingdeployed in the air. A typical mission profile may include locationinformation of the origin node 103 and/or destination node 113, radiocapabilities of the autonomous mobile nodes 105, 107, 109, and 111, andcertain information on priority traffic nodes that need preferentialtreatment in various situations. The location information of the origin103 or destination nodes 113 may include information on GlobalPositioning System (GPS) coordinates of the origin node 103 and thedestination node 113. In addition or alternatively, the locationinformation of the origin node 103 and the destination node 113 may bewirelessly transmitted to the autonomous mobile nodes 105, 107, 109, and111 from a deployment site. The radio capabilities of the autonomousmobile nodes 105, 107, 109, and 111 may include wireless communicationprotocols, communication ranges, a number of wireless communicationchannels, a type of antenna (e.g., omni-directional vs.multi-directional antenna), etc.

In the example described herein, each autonomous mobile node makes adecision to move (or navigate) to a new location in the air or hold itsposition based on its internal role in the communication network 100(e.g., Free, Orphan, Tip, Backbone, Extra, etc.), roles of adjacentautonomous mobile nodes in the communication network 100 (e.g., Free,Orphan, Tip, Backbone, Extra, etc.), signal strength, or quality ofsignals, such as radio frequency signals, received from its adjacentautonomous mobile nodes, or real-time data collected from onboardsensors of the autonomous mobile node. Further, each autonomous mobilenode may take on a different role in the communication network 100during or after a formation of a tentacle between the origin node 103and the destination node 113. An example of role transitions of anautonomous mobile node is described below in reference to FIG. 3.

Referring back to FIG. 1, a group 101 of autonomous mobile nodes, suchas UAV 1, UAV 2, UAV 3, and UAV 4 are deployed in the air from alocation towards the origin node 103. For example, assume that the UAV 1is first deployed among the group of autonomous mobile nodes. The UAV 1autonomously moves and first comes in contact with the origin node 103,such as Node 1, and searches for a tentacle associated with the originnode 103. If there is no tentacle detected, then the UAV 1 creates atentacle between the UAV 1 and Node 1, e.g., establishes a wirelesscommunication link 121 (a tentacle) between the UAV 1 and Node 1. Oncethe UAV 2, UAV 3, and UAV 4 are deployed in the air, in accordance withcertain aspects of the present disclosure, the UAV 2, UAV 3, and UAV 4may autonomously fly towards Node 1 or Node 2. Each of the UAV 2, UAV 3,UAV 4 searches and detects the tentacle associated with the origin node103, and operates to grow or extend the tentacle towards the destinationnode 113, such as Node 2 or Node 3.

In the example implementation, each autonomous mobile node has apredefined wireless communication range (e.g., a short range, mid-range,or long range) and autonomously navigates to establish a wirelesscommunication link with an origin node or another autonomous mobile nodedeployed and detected to be within its wireless communication range orconnectivity range. Thus, the one or more autonomous mobile nodes may beused to grow the tentacle to cover a large distance from the origin node103 to the destination node 113. For example, if the origin node 103 andthe destination node 113 are close in proximity to each other, then oneautonomous mobile node deployed in the air may be needed to establish awireless communication network between the origin node 103 and thedestination node 113. Otherwise, the two or more autonomous mobile nodesdeployed in the air may be needed to form and grow the tentacle to covera long distance apart between the origin node 103 and the destinationnode 113.

Further, after the communication network 100 (or the final tentacle)between the origin node 103 and the destination node 113 has beencompleted, any extra autonomous mobile node (not shown) may autonomouslyposition itself to enhance the completed final tentacle 100 or grow anew tentacle to a new destination node.

FIG. 2 illustrates an example flowchart for establishing a wirelesscommunication network or a tentacle originating from an origin node.Initially, at 201, a group of autonomous mobile nodes (e.g., a group ofautonomous mobile nodes 101 in FIG. 1) are deployed in the air, witheach autonomous mobile node programmed with certain location information(e.g., GPS coordinates), such as those of the origin node and/or thedestination node.

At 203, a first autonomous mobile node may detect the origin node, whenthe first autonomous mobile node comes in contact with the origin nodewithin its wireless communications range. Upon the detection of theorigin node, the first autonomous mobile node may search for one or moreexisting tentacles associated with the origin node. The detection of theone or more existing tentacles may be done by communicating with theorigin node or based on signals transmitted from the origin node or fromother autonomous mobile nodes. In one implementation, the signals may bebroadcast messages from the origin node or other autonomous mobilenodes. Each broadcast message may contain location information (e.g.,GPS coordinates) of a broadcasting node, its role in a formation of acommunication network or tentacle (e.g., Origin, Orphan, Free, Tip,Extra, Backbone, etc.). If the broadcasting node is part of a tentacle,the broadcast message may include information on the tentacle, such as atentacle identifier and a state of the tentacle. As such, when thebroadcast message does not include any information on the tentacleidentifier and/or the state of the tentacle, then a receiving node maydetermine whether a tentacle is currently being created.

At 205, if no tentacle has been found or detected, the first autonomousmobile node becomes the first node to form an initial tentacle with theorigin node. The first autonomous mobile node communicates with theorigin node to create the initial tentacle with the origin node.

At 207, after the initial tentacle has been created (e.g., a wirelesscommunication link has been established between the origin node and thefirst autonomous mobile node), each of remaining autonomous mobile nodesin the group autonomously navigate to a location towards a destinationnode, extending the initial tentacle towards the destination node byeach adding an additional wireless communication link to the extendedtentacle at an edge of a wireless communication range of its adjacentautonomous mobile node, which is an end of the previously extendedtentacle.

In one implementation, a particular autonomous mobile node may movealong the extended tentacle towards a location determined for theparticular autonomous mobile node, based on information (e.g., signalquality) received from other autonomous mobile nodes in the group. Whenthe particular autonomous mobile node arrives at the location, theparticular autonomous mobile node may extend the previously extendedtentacle by establishing and adding a wireless communication linkbetween the particular autonomous mobile node and another autonomousmobile node which is a tip of the previously extended tentacle. Theparticular autonomous mobile node then becomes a new tip of the newlyextended tentacle. In this way, with a sufficient number of autonomousmobile nodes used, the tentacle originating from the origin node canautonomously grow to reach the destination node over a distance (e.g.,the tip of the tentacle and the destination node are within a wirelesscommunication range of each other) by iteratively adding an additionalcommunication link to a tip of the previously extended tentacle, asshown in FIG. 1.

Further, in another aspect, when there are multiple origin nodes andmultiple destination nodes, one or more wireless communication networks(or tentacles) can be created from the multiple origin nodes to themultiple destination nodes through collaboration of autonomous mobilenodes as described above.

At 209, after the tentacle has been completed between the origin nodeand the destination node, any extra autonomous mobile nodes deployed inthe air, which are not used to form the tentacle may be used to eitherenhance the completed tentacle or grow new tentacle(s) to newdestination(s).

As noted above, a tentacle may be initially formed by an autonomousmobile node that first comes in wireless contact with the origin node,and thereafter the tentacle may grow in a manner similar to a biologicalgrowth by means of using additional autonomous mobile nodes deployed inthe air. During the process of forming and growing the tentacle, eachautonomous mobile node can take different roles or modes, as illustratedin FIG. 3.

FIG. 3 illustrates an example diagram of role transitions illustratingdifferent roles which each autonomous mobile node can assume inaccordance with certain aspects of the present disclosure. As shown inFIG. 3, each autonomous mobile node may take one of the following rolesor modes: “Orphan” 301 (e.g., an Orphan node), “Free” 303 (e.g., a Freenode), “Tip” 305 (a Tip node), “Backbone” 307 (a Backbone node), or“Extra” 309 (an Extra node).

An Orphan node is a node that is outside of a communication range of anyother autonomous mobile nodes. That is, the Orphan node may bedisconnected from a tentacle or an origin node. A Free node is a nodethat can communicate with a tentacle or one or more autonomous mobilenodes forming the tentacle, but is not a part of the tentacle. A Freenode is attracted by a destination node (e.g., attracted by a virtualdestination field exerted by the destination node) and its anchor or Tipnode, but it is repelled by all other nodes. A Tip node is a node thatis currently at the tip of a tentacle and has wireless connectivity withan adjacent node located towards the origin node. A Backbone node is anode participating in forming a tentacle (or a wireless communicationnetwork between the origin node and the destination node), but not theTip node. The Backbone node has wireless connectivity with either twoBackbone nodes (e.g., UAV 2 in FIG. 1), with a Backbone node and theorigin node (e.g., UAV 1 in FIG. 1), or with a Backbone node and thedestination node (e.g., UAV 4 in FIG. 1), within its wirelesscommunications range. Also, between two adjacent nodes (or sometimesreferred to as tentacle nodes) there may be a parent-child relation,which is ordered from the origin node towards the destination node. Thatis, a node close to the origin node becomes a parent of another node(e.g., a child) in a tentacle formation. In the example, a Backbone nodeis attracted by its parent and child node, but it is repelled by allother nodes. An Extra node is a node that has reached the destinationnode, but is not required to extend the tentacle or form a part of thewireless communication network between the origin node and thedestination node. The Extra node is free to move around or patrol aroundthe tentacle formed between the origin node and the destination node.

As illustrated in FIG. 3, an autonomous mobile node may go throughvarious role transitions during a formation of a tentacle. By way ofexample, initially, a new tentacle is created when an origin nodechanges its role to become a Tip node. One or more autonomous mobilenodes flown towards the origin node to form the tentacle are initiallyOrphan nodes. That is, in the example, at an initial deployment stage,all of the autonomous mobile nodes are disconnected from a tentacle orthe origin node, and thus they are the Orphan nodes (e.g., in Orphan301). An Orphan node may autonomously navigate towards the origin node,based on the location information of the origin node. Here, the locationinformation, (e.g., GPS coordinates) of the origin node and/or of thedestination node may be pre-programmed in memory of the Orphan node.Alternatively, the location information of the origin node may bewirelessly transmitted to the Orphan node while being deployed in theair.

When the Orphan node detects in its wireless communication range theorigin node or a tentacle originating from the origin node but is not apart of the tentacle yet, the Orphan node becomes a Free node (e.g., inFree 303). By way of example, when the Free node detects a tentacle or aTip node, which is a node at the end of the tentacle, the Free nodeestablishes an anchor relation to the Tip node. The Free node isconfigured to move freely or along the tentacle to an equilibriumlocation based on a field from the Tip node and the destination node(which is described in detail below). At the equilibrium location, theFree node becomes a new Tip of the tentacle, thereby extending thetentacle by adding an additional wireless communication link (or range)of the autonomous mobile node. That is, if the autonomous mobile nodedetects one or more tentacles originating from the origin node, whichare established by other autonomous mobile nodes, then the autonomousmobile node navigates along the tentacle and becomes a new Tip node atthe end of the tentacle, extending the tentacle towards the destinationnode.

When the new Tip node establishes wireless connectivity with theprevious Tip node, the previous Tip node becomes a Backbone node (e.g.,in Backbone 307) of the tentacle and maintains wireless communicationswith an adjacent Backbone node and the new Tip node.

In this way, as an additional autonomous mobile node (e.g., a Free node)becomes a new Tip node one after another, the tentacle can be extendedand eventually be extended from the origin node to reach the destinationnode because the tentacle is designed to extend in the direction of thedestination node. Also, when the newly added node at the end of thetentacle becomes a Tip node and its adjacent node becomes a Backbonenode, the newly added node becomes a child of the adjacent node in thetentacle formed and the adjacent node becomes a parent of the newlyadded node.

By repeating the process described above in an iterative manner, awireless communication network originating from the origin node can beextended to reach the destination node, via using a number of autonomousmobile nodes. As noted above, the tentacle is thus “complete” betweenthe origin node and the destination node only when the wirelesscommunication network is established between the origin node and thedestination node by means of one or more autonomous mobile nodes formingthe tentacle.

In an aspect of the present disclosure, after completing the tentaclewith the destination node, the last autonomous mobile node added to thetentacle may send a message to its nearest neighboring autonomous mobilenode to inform that the tentacle has now been completed and/or awireless communication network between the origin node and thedestination node has been established. The nearest neighboringautonomous mobile node receives and forwards the message to its othernearest neighboring autonomous mobile node in the tentacle. The messageis then propagated throughout the tentacle and reaches the origin nodeafter multiple relays or forwarding of the message via intermediatenodes (“a one-hop broadcast to nearest neighbor scheme”).

Further, in the completed tentacle, all communication messages and datatransfers from any node in the tentacle including the origin node and/orthe destination node are performed using the one-hop broadcast tonearest neighbors scheme, e.g., by relaying or forwarding data from asending node to its nearest neighboring node in the tentacle eithertowards the origin node or the destination node.

In an aspect of the present disclosure, after the tentacle is completedbetween the origin node and the destination node, there can be someautonomous mobile nodes (e.g., Free nodes) which did not participate informing the tentacle between the origin node and the destination node.Such Free nodes, which are deployed but are not needed to form thetentacle, become Extra nodes (e.g., in Extra 309). In another aspect,the Extra nodes may be used to reinforce the existing tentacle or buildnew tentacles, if desired. Alternatively, the Extra nodes may (i) stayaround the destination node, (ii) fly back to the origin node along thecompleted tentacle, (iii) distribute along the completed tentacle toenhance the completed tentacle, or (iv) start to build a new tentaclefor a new destination.

Alternatively, the Extra nodes may patrol back and forth along thecompleted tentacle between the origin node and the destination node toaid quick repair when damage to the wireless communication network isdetected. In another aspect according to the present disclosure, theExtra nodes may spread around the destination node to improve threattolerance at or near the destination node. In another aspect, the Extranodes may spread around the origin node to improve surveillance at theorigin node. Still in another aspect, in a case of multiple originnodes, a unique identification may be assigned to each completedtentacle between an origin node and a destination node.

FIG. 4 provides a conceptual diagram in accordance with certain aspectsof the present disclosure. In the example, navigating an autonomousmobile node along one or more tentacles or wireless communication linksis based on a profile of fields experienced by each autonomous mobilenode. In an aspect of the present disclosure, the autonomous mobile nodemay hold its position at an edge of its communications range to aneighboring autonomous mobile node based on information on signals(e.g., signal strength, quality of signals, etc.) received from theneighboring autonomous mobile node. In one implementation, the signalstrength or quality of signals may be converted into a vector withcomponents, such as field strength and direction components, whichcorrespond to the autonomous mobile node being attracted or repelled bythe nearest neighboring autonomous mobile node. In an aspect, thequality of received signals may be determined based on a signal level orsignal strength of a received radio frequency transmission. Signalstrength is often measured and expressed in signal power (dBm or dBmW)received by an antenna of a deployed device, such as the autonomousmobile node; that is, in decibels (dB) above a reference level of onemilliwatt (mW).

As shown in FIG. 4, a graph of signal quality (X) vs. field strength (F)is illustrated. Received signal quality (X) is converted into fieldstrength (F) to determine whether attraction or repulsion is to be actedupon an autonomous mobile node. The graph shown in FIG. 4 illustratessuch an example scheme, in which when the autonomous mobile nodes arespatially close to each other, they repel to prevent collisions, i.e.,X>R_(hi), where X represents received signal quality and R_(hi)represents an upper limit of a reference signal quality value R. Thegraph further shows that when the autonomous mobile nodes are outside anacceptable range, they attract each other, i.e., X<R_(lo), where Xrepresents received signal quality and R_(lo) represents a lower limitof the reference signal quality value R. Further, when the autonomousmobile nodes are completely out of a communication range, there is nosignal or field.

It is also noted that at the beginning of an initial deployment ofautonomous mobile nodes, each autonomous mobile node may be providedwith the location information of a destination node, such as Node 2shown in FIG. 5, so as to compute a virtual attraction field 501 (seeFIG. 5) towards a destination node 113, such as Node 2, even when theautonomous mobile node is outside of the communication range. Further,for illustration purposes, FIG. 5 shown only one destination node, suchas Node 2, but there can be multiple destination nodes, such as Node 2and Node 3, as shown in FIG. 1. In such a case of multiple destinationnodes including Node 2 and Node 3, each autonomous mobile node may beprovided with location information of the multiple destination nodesincluding Node 2 and Node 3, and a first virtual attraction fieldtowards Node 2 may be computed first and then a second virtualattraction field towards Node 3 may be computed.

In an aspect of the present disclosure, the field strength of thereceived signal quality of a radio frequency transmission may becalculated using the following expression (A):

If (X>R _(hi)),Field_Strength=(X−R _(hi))/(1−R _(hi))

Else If (X<R _(lo)),Field_Strength=−R _(lo) /X

Else Field_Strength=0.

Also, velocity components (e.g., velocityX and velocityY) of fieldstrength can be computed using the following expression (B):

velocityX=velocityX+Field_Strength*(x _(self) −x _(other))/sqrt((x_(self) −x _(other))²+(y _(self) −y _(other))²), and

velocityY=velocityY+Field_Strength*(y _(self) −y _(other))/sqrt((x_(self) −x _(other))²+(y _(self) −y _(other))₂),

FIG. 5 illustrates a visualized diagram of example fields interactingbetween two adjacent autonomous mobile nodes 105 and 107 (e.g., UAV 1and UAV 2) and a virtual attraction field 501 exerted by a destinationnode 113, such as Node 2. In one implementation, this virtual attractionfield has a fixed magnitude of 1.0, and points in the direction of thedestination node 113. Further, the virtual attraction field may bereplaced by a field of the destination node 113 when the autonomousmobile node 107 is within a communication range with the destinationnode 113. In the example, based on the above expressions (A) and (B),the fields acting on the autonomous mobile node 107 are computed. Thecomputed fields are summed together, resulting in an ellipticaltrajectory 503 for the autonomous mobile node 107. The ellipticaltrajectory 503 guides the autonomous mobile node 107 to an equilibriumpoint (e.g., the autonomous mobile node 107′ at the equilibrium point)that exists closer to the destination node 113. In this way, theautonomous mobile node 107 autonomously navigates itself based on thefields (which may be based on received signal strengths) towards thedestination node 113 within a wireless communication range of theautonomous mobile node 105 (e.g., while maintaining wirelesscommunications with the autonomous mobile node 105).

Further, a tentacle may have its own state transitions. For example,FIG. 6 illustrates an example diagram for state transitions for atentacle in accordance with certain aspects of the present disclosure.That is, the tentacle originating from the origin node can be indifferent states depending upon its progress towards establishingwireless connectivity between the origin node and the destination node.In an aspect, the tentacle can be in one of the following states:Forming 601, Complete 603, Damaged 605, and Reinforcing 607.

In Forming 601 state of the tentacle, a new tentacle (or an initialwireless communication network) starts from an origin node or adestination node that has already been reached. Initially, there may notbe any Tip node, but as soon as a first autonomous mobile node reachesits equilibrium point in its field, the first autonomous mobile nodewill become a Tip node. Also, the first autonomous mobile node maygenerate a unique identifier (ID) for the tentacle or the wirelesscommunication network. For example, in one implementation, the uniqueidentifier for the tentacle (the “tentacle ID”) may be generated bymerging a timestamp with the unique ID of the first autonomous mobilenode. This allows a node to create or recreate a unique tentacle ID atdifferent points in time. Use of unique tentacle IDs may facilitateconstruction of multiple tentacles, from a single origin node or to asingle destination node without interfering with each other.Alternatively, with the unique tentacle IDs, multiple tentacles may beformed from a single origin node to multiple destination nodes, or frommultiple origin nodes to a single destination node. When in contact withan incomplete tentacle, a node obtains its identifier (e.g., thetentacle ID) such that only signals from nodes containing the sametentacle ID may contribute to calculating the fields, thus removinginterference from other tentacles.

Further, in the Forming 601 state of the tentacle (or a wirelesscommunication network), the tentacle may include some Free nodes,Backbone nodes, and one Tip node. When the wireless communicationnetwork via one or more tentacles is established between the origin nodeand the destination node (e.g., the tentacle grows to reach thedestination node), the tentacle or wireless communication network is inComplete 603 of the tentacle. Furthermore, when a Free node reacheswithin wireless communication ranges of a Tip node in the tentacle andthe destination node, the Free node may complete the tentacle (or thewireless communication network), thereby establishing the wirelessconnectivity via the one or more autonomous mobile nodes between theorigin node and the destination node over a distance. When the tentacleis complete (e.g., in Complete 603), all autonomous mobile nodes formingthe tentacle will change their roles to become Backbone nodes, and noTip node will exist in the tentacle or the network.

As soon as the tentacle has been completed from the origin node to thedestination node, if no new destination nodes exist, then, as notedearlier, remaining Free nodes may become Extra nodes and anchor to theBackbone nodes of the tentacle for reinforcement purposes (e.g., inReinforcing 607). In one implementation, each Backbone node may anchorone Extra node such that the one Extra node may receive signals from twoor more neighboring Backbone nodes. This strategy ensures that a secondtentacle may be formed given a sufficient number of mobile nodes at asafe distance away from the first tentacle, which means that if anydamage occurs to the wireless communication network or the tentacle, thewireless communication network will reroute its traffic with minimalinterruption.

In accordance with certain aspects of the present disclosure, a Freenode may be adjacent to two Backbone nodes, a Tip node and a Backbonenode, or a Backbone node and the origin or destination node. If anyBackbone node is determined to not meet these criteria, then thetentacle or the wireless communication network is deemed to be damaged(e.g., in Damaged 605). When the damage is detected by a node, the nodechanges its role to become a Tip node (from a Backbone node), and anyanchored Extra nodes are released to perform the needed repair (e.g.,replacing the damaged Backbone node in the tentacle or the wirelesscommunication network).

In one implementation, when multiple origin nodes are available, anoperator may choose which origin node to assign to each autonomousmobile node prior to its launch. In another implementation, the multipleorigin nodes can be assigned dynamically based on a number of Extranodes and damage detected in the wireless communication network. In thepresence of multiple destinations, a tentacle to the first destinationcan be completed, and then another tentacle can be built from that firstdestination to the next, and so on. When two partially completedtentacles meet, a Free node will encounter two Tips and the methodologydisclosed herein may merge these two tentacles into one. This processhelps to repair damage at multiple locations simultaneously by forcingreinforcement nodes to arrive from the origin node and/or thedestination node.

In accordance with certain aspects of the present disclosure, eachautonomous mobile node in the tentacle can autonomously detect damage tothe tentacle and initiate a repair process.

By way of example, FIG. 7A provides another illustrative example fordetecting and repairing damage to a tentacle. It is assumed in FIG. 7Athat the autonomous mobile node 109 is damaged (e.g., due to amechanical failure or a hostile environment) and in out ofcommunications with other autonomous mobile nodes, such as UAV 2 and UAV4. As a result, the tentacle or the once complete wireless communicationnetwork between the origin node 103 and the destination node 113 isbroken. It is also assumed that an autonomous mobile node 133, such asUAV 5, is an Extra node anchored to the autonomous mobile node 111, suchas UAV 4, which is in a communication range of the tentacle.

In an aspect of the present disclosure, each autonomous mobile node isconfigured to check the status of its parent node and child node on aregular basis. In as aspect, one or more probing signals can be used toensure the status of its parent and child nodes on regular basis. Forexample, at a predetermined time interval (e.g., 20 seconds) eachautonomous mobile node may send a probe signal to its parent node andchild node to check the status of the nodes. In one implementation, theprobe signal may be a heartbeat signal sent by an autonomous mobile nodeto its neighboring autonomous mobile nodes (e.g., its parent and childnodes), and in response to the probe signal, the parent and child nodeseach respond with a reply signal informing that the parent and childnodes are operational and are in communication with other nodes in thetentacle.

In another implementation, broadcast messages may be used to ensure thestatus of its parent and child nodes on a regular basis. For example,each autonomous mobile node may send a broadcast message to its parentand child nodes, informing that the autonomous mobile node is alive andoperational. If the broadcast message is not received from either theparent node or the child node within a predefined time interval, such as1 minute, then it may be assumed that either the parent node or thechild node is damaged (e.g., hardware failure, software failure, etc.)and thus the tentacle is damaged. This process may also identify thelocation of damage to the tentacle, which is required for faster repairresponse.

In the example shown in FIG. 7A, by way of example, the autonomousmobile node 111 (or 107) expects a signal (e.g., a broadcast signal)from the autonomous mobile node 109 within a period of time (e.g., 1minute), which may be a configurable parameter or a pre-set parameterthat can be pre-programmed before launch or deployment. However, sincethe autonomous mobile node 109 is damaged (e.g., the autonomous mobilenode 109 is down due to a mechanical failure), the autonomous mobilenode 111 (or 107) fails to receive any signal and its timer expires.Upon expiration of the timer, the autonomous mobile node 111 (or 107)determines that the autonomous mobile node 109 is damaged or down.Further, the autonomous mobile node 111 (or 107) changes its role to Tipfrom Backbone and informs all other nodes (including adjacentneighboring nodes) to change their roles. For instance, an Extra node,such as the Extra node 133, will become a Free node, a Backbone node,such as a node 107, 105, or 111, will become a Tentacle node, and anEnhance node will become a Free node.

As a result, the Free node 133 autonomously moves to the location of thedamaged node 109 and takes the place of the damaged node 109 in atentacle formation. That is, the Free node 133 rebuilds the tentacle(e.g., complete the tentacle) by establishing wireless connectivity withboth neighboring nodes, such as the autonomous mobile node 111 and theautonomous mobile node 107. The roles of the autonomous mobile nodes inthe completed tentacle change to Backbone (including all Tentacle nodesbecoming Backbone nodes) and any Free nodes associated with the tentaclebecome Extra nodes. As a result, the wireless communication network isre-established between the origin node 103 and the destination node 113,and damage to the wireless communication network is repairedautonomously by one or more of the autonomous mobile nodes deployed suchas Extra nodes 133.

As noted above, when a tentacle is completed from an origin node to adestination node, all nodes in the tentacle become Backbone nodes, andall Free nodes become Extra nodes, which are associated with thetentacle. In accordance with certain aspects of the present disclosure,as shown in FIG. 7B, an Extra node may be used to enhance the completedtentacle. The Extra node may be configured to travel from one Backbonenode to next Backbone (e.g., patrol the tentacle). If the currentBackbone node K (UAV 1 or UAV 2) does not have any enhancement thereof,then the Extra node may change its role to Enhance and establish anenhancement relation with the Backbone node K as shown in the example inFIG. 7B. Alternatively, the Extra node (e.g., UAV 4) may stay close tothe Backbone node K (e.g., UAV 1) within a communication range of theBackbone node K. Also, in an aspect, the tentacle may be evenly enhancedat the end of the tentacle. Further, as noted, when the tentacle isenhanced, the remaining Extra (e.g., UAV 3 or UAV 4) nodes may continueto patrol along the tentacle. As a result, using the present technology,a wireless communication network between an origin node and adestination node (or two nodes on the ground) may be autonomously builtand maintained via one or more autonomous mobile nodes. Also, based onrole changes of the one or more autonomous mobile nodes, any damage tothe wireless communication network may be autonomously and efficientlydetected and repaired. Further, critical portions of the wirelesscommunication network or the tentacle may be autonomously enhanced byone or more autonomous mobile nodes associated with the tentacle.

Further, in an aspect of the present disclosure, one or more computersystems in the one or more autonomous mobile nodes associated with thetentacle may be configured to perform various functionalities relatingto establishing, maintaining, repairing, and enhancing a wirelesscommunications network using the one or more autonomous mobile nodes.

Further, the present technology disclosed herein thus facilitatescollaborative sensing through one or more heterogeneous sensors attachedto one or more nodes. In particular, a post-processed measurement from asensor such as chemical, biological, optical, camera, radio, network,etc. can be transformed into field information including field strengthand added onto the velocity computation to alter a node's trajectory asdescribed herein.

In accordance with certain aspects of the present disclosure, thepresent technology can be used to track movement of a second node on theground (e.g., a friendly or hostile destination) for surveillancepurposes and tactical missions using video or image sensor(s) on board.The virtual attraction field 501 shown in FIG. 5 may be replaced by asensed field whose magnitude is proportionate to distance from thesensed object. Such information can be extracted from the imagesensor(s) with separate object recognition software.

By way of example, FIG. 8 illustrates an example methodology fortracking the movement of the second node on the ground using one or moreon board video/image sensors. At 801, one or more autonomous mobilenodes (or an autonomous mobile apparatus) fly or move towards a firstnode on the ground. By way of example, a flight component 1030 or anavigation towards a location component 1037 of an autonomous mobilecommunication component 1004 shown in FIG. 10B may navigate theautonomous mobile node to the first node on the ground.

At 803, the autonomous mobile apparatus establishes wirelesscommunications with the first node on the ground. By way of example, anestablishing wireless communication component 1033 of the autonomousmobile communications component 1004 shown in FIG. 10B may be used toestablish the wireless communications with the first node on the ground.

At 805, the autonomous mobile apparatus determines whether there is atentacle (e.g., one or more tentacles) associated with the first node,where the tentacle comprises one or more wireless communication linksestablished by the one or more autonomous mobile nodes. By way ofexample, a tentacle detection component 1035 of the autonomous mobilecommunication component 1004 may be used to determine whether there is atentacle associated with the first node.

At 807, when it is determined that there is a tentacle associated withthe first node, the autonomous mobile apparatus navigates towards thesecond location based at least in part on the information on thereceived signals from the one or more autonomous mobile nodes. When itis determined that there is no tentacle associated with the first node,the autonomous mobile apparatus navigates towards the second locationbased at least in part on the information on the received signals fromthe first node. By way of example, the flight component 1030 ornavigation towards a location component 1037 of the autonomous mobilecommunication component 1004 may be used to navigate the autonomousmobile node towards the second location after the determination.

At 809, using one or more autonomous mobile apparatuses the second nodeon the ground is detected. The detection of the second node can beperformed by using equipment on board such as video and/or imageprocessing equipment (e.g., camera sensor 1103 and/or geo-locationsensor 1102 shown in FIG. 11). The autonomous mobile apparatus may beequipped with video capturing or image processing equipment. When thetentacle grows such that the autonomous mobile apparatus comes within avideo surveillance range of the equipment for the second node on theground, the autonomous mobile apparatus searches and detects presence ofthe second node on the ground based on data received from one or moresensors (e.g., video surveillance sensors or image sensors such ascamera sensor 1103) on board and/or information received from the one ormore autonomous mobile nodes, as follows: (i) the digital signalprocessing algorithm software module operating in the video capturing orimage processing equipment constantly identifies and analyzes identifiedobjects (e.g., face detection and recognition) and compares againstknown set of objects (target objects); (ii) if a match is found, thematching percentage is expressed as signal quality and translated intothe appropriate field strength as depicted in FIG. 4; (iii) once thepresence of the second node on the ground is detected based on thereceived data from the one or more sensors on board, video data relatingto the second node is captured and relayed back to the first node viaone or more deployed autonomous mobile nodes in the tentacle. The abovedigital signal processing algorithm software module (or video sensordigital signal processing equipment) may be implemented via one or moreprocessors 1003 as shown in FIG. 10A.

At 811, the movement of the second node on the ground is monitored andtracked by the on board video surveillance sensor. The speed and/ordirection of the movement of the second node on the ground areconstantly estimated and updated by the video sensor digital signalprocessing equipment, and their values control the motion (e.g., flying)of the autonomous mobile node which detected the target object. By wayof example, the monitoring and tracking of the movement of the secondnode on the ground may be performed by at least one of the processingsystem 1001, the autonomous mobile communication component 1004, etc.,based on the measurement data from the camera sensor 1103.

Further, at 813, information collected on the movement of the secondnode on the ground is sent to the first node via the tentacleestablished by the one or more autonomous mobile nodes. In addition, oralternatively, the information collected on the movement of the secondnode on the ground may be transmitted to all the nodes via the tentacle.Therefore, as the tracked second node moves, the tentacle may extend,shrink or curve in response to the change in the movement of the trackedsecond node (e.g., in response to the change in the direction of adestination node field). By way of example, the establishing wirelesscommunication component of the autonomous mobile communication component1004 of the autonomous mobile node shown in FIG. 10B may be used totransmit the information to the nodes. As a result, using the presenttechnology described herein, a destination node for surveillance can beautonomously detected and monitored using one or more autonomous mobilenodes.

Further, in accordance with certain aspects of the present disclosure,the present technology can also be used to identify or determinegeographical location of a second node on the ground (e.g., a friendlyor hostile destination) using radio frequency (RF) geo-location sensoron board. By way of example, FIG. 9A illustrates an example methodologyfor determining the location of the second node on the ground bydetecting and tracking the RF signal emitted by the second node on theground.

At 901, one or more autonomous mobile nodes including an autonomousmobile apparatus fly (or move) towards a first node on the ground. Byway of example, the flight component 1030 or the navigation towards alocation component 1037 of the autonomous mobile communication component1004 shown in FIG. 10B may be used to navigate the autonomous mobilenode to the first node on the ground.

At 903, the autonomous mobile apparatus establishes wirelesscommunications with the first node on the ground. By way of example, theestablishing wireless communication component 1033 of the autonomousmobile communications component 1004 shown in FIG. 10B may be used toestablish the wireless communications with the first node on the ground.

At 905, the autonomous mobile apparatus determines whether there is atentacle (e.g., one or more tentacles) associated with the first node,where the tentacle comprises one or more wireless communication linksestablished by the one or more autonomous mobile nodes. By way ofexample, the tentacle detection component 1035 of the autonomous mobilecommunication component 1004 may be used to determine whether there is atentacle associated with the first node.

At 907, when it is determined that there is a tentacle associated withthe first node, the autonomous mobile apparatus navigates towards alocation based at least in part on the information received from the oneor more autonomous mobile nodes. When it is determined that there is notentacle associated with the first node, the autonomous mobile apparatusnavigates towards the location based at least in part on the informationon the received signals from the first node. By way of example, theflight component 1030 or navigation towards a location component 1037 ofthe autonomous mobile communication component 1004 may be used tonavigate the autonomous mobile node towards the location after thedetermination.

At 909, the autonomous mobile apparatus detects a signal of interesttransmitted by the second node on the ground. For example, theautonomous mobile apparatus may be equipped with RF signal detectionequipment on board. As the tentacle grows, the autonomous mobileapparatus scans for presence of a signal of interest within its wirelesscommunication range, where the RF signal of interested may betransmitted by the second node on the ground. Any existing RF signaldetection techniques may be used to detect the signal of interest fromthe second node on the ground. When the tentacle grows such that theautonomous mobile apparatus comes within a RF signal detection range fordetecting presence of the second node on the ground, the autonomousmobile apparatus searches and detects the presence of the second node onthe ground as follows: (i) the RF signal detection algorithm softwaremodule operating in conjunction with the RF geo-location sensor on boardconstantly identifies signals and analyzes the identified signals (e.g.,modulation type, signal bandwidth, center frequency, and so forth), andcompares them against a known set of signals in the search list; (ii) ifa match is found, the corresponding signal's quality is translated intofield strength as depicted in FIG. 4. By way of example, the RF signaldetection and tracking may be performed by using at least one of theprocessing system 1001, geo-location sensor 1102, and the autonomousmobile communication component 1004 (e.g., flight component 1030 ornavigation towards a location component 1037), etc. Further, the RFsignal detection algorithm software module may be implemented via one ormore processors 1003 as shown in FIG. 10A.

Further, (iii) once the presence of the second node is detected, detailson the identified signal relating to the second node are captured andrelayed back to the first node via one or more deployed autonomousmobile nodes in the tentacle; (iv) upon receiving the detected signalinformation transmitted over the entire tentacle, one or more extraautonomous mobile apparatuses coupled to the tentacle then move (e.g.,fly) towards the first autonomous mobile apparatus till it detects thetarget second node on the ground. When at least three autonomous mobilenodes detect the same target second node using their respective on boardRF signal detection sensor in conjunction with respective signalprocessing module or equipment, they communicate with each other theirown coordinates (using on board PS) and estimate the locationinformation (e.g., location coordinates) of the second node using amethod of triangulation or the like; (v) as the second node may bemobile, the autonomous mobile nodes which detected the second node onthe ground may each adjust its location to maintain a good signal matchquality, and continuously share theirs coordinates to update theestimated location information of the second node on the ground.

At 913, the information on the determined location of the second node onthe ground is sent to the first node via the tentacle established by theone or more autonomous mobile nodes. By way of example, the processingsystem 1001 or the autonomous mobile communication component 1004 may beconfigured to send the information to the first node via the tentacle.As a result, the present technology described herein can be used toautonomously detect and locate the second node of interest on the groundusing one or more on board RF signal detection sensors of the one ormore autonomous mobile nodes.

Further, in accordance with certain aspects of the present disclosure,as shown in FIG. 9B, the present technology can also be used to identifyor determine geographical area contaminated by toxic pollutants orcontaminant materials using one or more on board biological or chemicalsensors. In this case, the second node may refer to a central locationof a detected contamination area. By way of example, FIG. 9B illustratesan example methodology for determining the contamination area on theground or in the air by detecting and tracking a level of contaminationof target pollutants or chemicals around the second node.

At 921, one or more autonomous mobile nodes including an autonomousmobile apparatus fly (or move) towards a first node on the ground. Byway of example, the flight component 1030 or the navigation towards alocation component 1037 of the autonomous mobile communication component1004 shown in FIG. 10B may be used to navigate the autonomous mobilenode to the first node on the ground.

At 923, the autonomous mobile apparatus establishes wirelesscommunications with the first node on the ground. By way of example, theestablishing wireless communication component 1033 of the autonomousmobile communications component 1004 shown in FIG. 10B may be used toestablish the wireless communications with the first node on the ground.

At 925, the autonomous mobile apparatus determines whether there is atentacle (e.g., one or more tentacles) associated with the first node,where the tentacle comprises one or more wireless communication linksestablished by the one or more autonomous mobile nodes. By way ofexample, the tentacle detection component 1035 of the autonomous mobilecommunication component 1004 may be used to determine whether there is atentacle associated with the first node.

At 927, when it is determined that there is a tentacle associated withthe first node, the autonomous mobile apparatus navigates towards thepre-programmed second location (because it is before detection) based atleast in part on the information on the received signals from the one ormore autonomous mobile nodes. When it is determined that there is notentacle associated with the first node, the autonomous mobile apparatusnavigates towards the second location based at least in part on theinformation on the received signals from the first node. By way ofexample, the flight component 1030 or navigation towards a locationcomponent 1037 of the autonomous mobile communication component 1004 maybe used to navigate the autonomous mobile node towards the secondlocation after the determination.

At 929, the autonomous mobile apparatus detects a match for one or morepollutants or chemical materials (or a target contaminant material). Forexample, the autonomous mobile apparatus may be equipped with biologicaland/or chemical sensor equipment on board. As the tentacle grows, theautonomous mobile apparatus scans for presence of a pollutant orchemical within its sensing range. When the tentacle grows such that theautonomous mobile apparatus comes within a biological or chemicaldetection range for a contaminated area, the autonomous mobile apparatussearches and detects presence of the contaminated area as follows: (i)the biological or chemical material detection algorithm software moduleoperating in the biological or chemical sensor on board constantlyanalyzes identified compounds captured by the biological or chemicalsensor; (ii) if a match is found, the signal quality indicating thenormalized concentration of material is translated to the appropriatefield strength as depicted in FIG. 4; (iii) once the presence of thetarget contamination material is detected, details on the identifiedmaterial relating to the contamination may be captured and relayed backto the first node via one or more deployed autonomous mobile apparatusesin the tentacle; (iv) upon receiving the detected signal informationtransmitted over the entire tentacle, one or more extra autonomousmobile apparatus attached to the tentacle then moves (e.g., flies)towards the first autonomous mobile apparatus till it detects the samecontamination field. Each of the new autonomous mobile apparatusesdetecting the same contamination then begins to surround thecontamination area as a result of the attraction and repulsion fieldstrengths constantly updated by the autonomous mobile apparatuses basedon the detection match quality and respective locations of theautonomous mobile apparatuses. Further, the biological or chemicalmaterial detection algorithm software module may be implemented via oneor more processors 1003 as shown in FIG. 10A.

At 931, with additional autonomous mobile apparatuses detecting the samecontamination area using their respective on board biological/chemicalsensors, the autonomous mobile apparatuses communicate with each othertheir own coordinates (using on board GPS) to approximate the area ofcontamination; (v) as the contamination area may be changing, theautonomous mobile apparatuses which detected the contamination adjustsits location to maintain a good contamination match quality, andcontinuously share theirs coordinates to update the estimatedcontamination area. By way of example, the detection and communicationof the information on the contamination area may be performed by usingone or more of the processor 1003, the autonomous mobile communicationcomponent 1004, the chemical or biological sensors, etc.

At 933, the information on the estimated contamination area (i.e., thecenter location of the area identified as the second node location) issent to the first node via the tentacle established by the one or moreautonomous mobile nodes. By way of example, the processing system 1001or the autonomous mobile communication component 1004 may be configuredto send the information to the first node via the tentacle.

As a result, the present technology described herein can be used toautonomously detect contamination and estimate the approximatecontamination area using one or more autonomous mobile apparatusesequipped with on board biological or chemical sensors.

Various aspects of the present disclosure including aspects of the flowcharts shown in FIGS. 2, 9A, and 9B may be implemented using hardware,software, or a combination thereof and may be implemented in one or morecomputer systems or other processing systems. Further, in accordancewith various aspects of the present disclosure herein, one or morefunctionalities may be implemented with a “processing system” that mayinclude one or more processors. Examples of such a processing system mayinclude a computer system with a single- or multi-core processor,communication bus such as USB or Ethernet, one or more transceivers, andone or more onboard sensors, as shown in FIG. 10A.

FIG. 10A shows a system diagram illustrating an example of a hardwareimplementation of an apparatus 1000 of an autonomous mobile node. Theautonomous mobile node may include one or more apparatuses 1000 whichinclude at least one processing system 1001. Also, alternatively, theapparatus 1000 can be any communications device embodied in theautonomous mobile node or a ground node. The processing system 1001 orthe apparatus 1000 may be implemented as either a client or a server ina client-server environment or a distributed computing environment.

In one implementation, the apparatus 1000 may include the processingsystem 1001, a transceiver interface 1006, a sensor interface 1007, anavigation interface 1008, and optionally a user (human operator)interface 1009. The processing system 1001 may be a general purposecomputer typically comprising a central processing unit or otherprocessing device(s), an internal communication bus, various types ofmemory or storage media for instructions/code and data storage, and oneor more network interface cards or ports for communication purposes. Byway of example, the processing system 1001 includes one or morecommunications buses (generally represented as a communication bus1002), one or more processors (generally represented by a processor1003), computer-readable media (generally represented as acomputer-readable medium 1005 including a non-transitorycomputer-readable medium), and one or more autonomous mobilecommunication components (generally represented as an autonomous mobilecommunication component 1004). In the present disclosure, the processingsystem 1001 may be configured to implement various functions or aspectsof the present technology as depicted in flow charts, process diagrams,algorithms described herein.

The communication bus 1002 may include any number of interconnectingbuses, cables, or bridges depending on the specific application of theprocessing system 1001 and the overall design constraints. Thecommunication bus 1002 is configured to link together various circuitsincluding the one or more processors 1003, and the computer-readablemedium 1005, and the autonomous mobile communication component 1004. Thecommunication bus 1002 may also link various other circuits such astiming sources, peripherals, voltage regulators, and power managementcircuits, which are well known in the art, and therefore, will not bedescribed any further. Various communication interface(s) may beprovided to transfer data among various components, such as theprocessor 1003, computer-readable medium 1005, autonomous mobilecommunication 1004, transceiver interface 1006, sensor interface 1007,navigation interface 1008, user (human operator) interface 1009, etc.Examples of the communication interface may include a network interfacesuch as an Ethernet (10/100/1000 Mbps), a serial communication port suchas USB, Firewire, and RS-232, and customized circuits optimized for fastand reliable communication with individual interfaces attached.

In the example, the autonomous mobile communication component 1004 mayinclude a hardware component, a software component, or a combination ofboth to implement various features or functionalities described hereinrelating to autonomous mobile communications functions includingfunctions relating to navigating an autonomous mobile node, forming atentacle, monitoring, maintaining, and repairing any damage to thetentacle, etc. The autonomous mobile communications may be implementedby the autonomous mobile communication component 1004, either alone orin combination with the processor 1003.

By way of example, as shown in FIG. 10B, the autonomous mobilecommunication component 1004 may include a flight component 1030, anestablishing wireless communications component 1033, a tentacledetection component 1035, and a navigation towards a location component1037. The flight component 1030 may be implemented as a component ormodule (e.g., hardware, software, or combination thereof) and isconfigured to autonomously fly an autonomous mobile node (or apparatus)towards a first node, which may be on the ground. The establishingwireless communication component 1033 may be implemented as a componentor module (e.g., hardware, software, or combination thereof) configuredto establish wireless communications with various nodes (e.g., the firstnode and/or second node on the ground) or other autonomous mobile nodesdeployed in the air. The tentacle detection component 1035 may beimplemented as a component or module (e.g., hardware, software, orcombination thereof) configured to determine whether there is a tentacleassociated with the first node on the ground or with one or moreautonomous mobile nodes deployed in the air, where the tentaclecomprises one or more wireless communication links established by theone or more autonomous mobile nodes. The navigation towards a locationcomponent 1037 may be implemented as a component or module (e.g.,hardware, software, or combination thereof) configured to navigate theautonomous mobile node to a first location of the first node, ornavigate along the tentacle towards a second location toward the secondnode, based at least in part on information received from the one ormore sensors onboard on the autonomous mobile node, when it isdetermined that there is a tentacle associated with the first node. Thenavigation towards a location component 1037 may be further configuredto navigate the autonomous mobile node towards the second location basedat least in part on the information received from the first node, whenit is determined that there is no tentacle associated with the firstnode. Alternatively, the navigation towards a location component 1037may also be configured to navigate the autonomous mobile node towardsthe second location based at least in part on measurement data from oneor more sensors onboard the autonomous mobile node.

Referring back to FIG. 10A, the processing system 1001 may include theone or more processors 1003. The processor 1003 may include digitalsignal processors (DSPs), micro-processors, micro-controllers, gatearrays including field programmable gate arrays (FPGAs), programmablelogic devices (PLDs), discrete hardware circuits, or other suitablehardware configured to perform the various functionalities describedherein. The processor 1003 may be configured to be responsible formanaging the communication bust 1002 and general processing, includingexecution of software or instructions stored on the computer-readablemedium 1005. The software or instructions may include instructions forcode for causing the processing system to perform various functions oroperations relating to the autonomous mobile communications functionsincluding functions relating to navigating an autonomous mobile node,forming a tentacle, monitoring, maintaining, and repairing any damage tothe tentacle, or the like. That is, the software, when executed by theprocessor 1003, may cause the processing system 1001 to perform variousfunctions including functionalities relating to the present technologydescribed herein. Also, the computer-readable medium may store data thatare manipulated by the processor 1003 when executing software. That is,the software functionalities may involve programming, includingexecutable instructions or code as well as associated stored data, e.g.,files used for implementing techniques for the present technologydisclosed herein including functions to autonomously establish, monitor,maintain, repair a wireless communication network using autonomousmobile nodes deployed in the air, etc.

In the present disclosure, software broadly include instructions,instruction sets, code, program code, programs, subprograms, softwaremodules, applications, routines, objects, executables, procedures,functions, hardware description language, etc. The software may resideon a non-transitory computer-readable medium. The non-transitorycomputer-readable medium may include, by way of example, a magneticstorage device (e.g., a hard disk, a floppy disk, a magnetic strip), anoptical disk (e.g., compact disk (CD), digital versatile disk (DVD)), asmart card, a flash memory device (e.g., card, stick, key drive), randomaccess memory (RAM), read only memory (ROM), programmable ROM (PROM),erasable PROM (EPROM), electrically erasable PROM (EEPROM), a register,a removable disk, and any other suitable medium for storing softwareand/or instructions that may be accessed and read by a processor. Thecomputer-readable medium may also include, by way of example, a carrierwave, a transmission line, and any other suitable medium fortransmitting software and/or instructions that may be accessed and readby a computer. The computer-readable medium may be resident in theprocessing system, external to the processing system, or distributedacross multiple entities including the processing system. Further, thesoftware may be stored at other locations and/or transported for loadinginto an appropriate processing system. Software code or instructions forapplications or other programming for the appropriate general purposecomputer including the processing system may be stored at a differentnetwork location (e.g., a remote server) and wirelessly transmittedthrough a network for storage in memories of the processing system.

The transceiver interface 1006 provides a means for communicatingwirelessly with other apparatus, such as an origin node, a destinationnode, or an autonomous mobile node. The transceiver interface 1006 maybe configured to support short and/or long range wireless communicationsprotocols including Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi),IEEE 802.16 (WiMAX), IEEE 802.20, Ultra-Wideband (UWB), Bluetooth,and/or other suitable protocols. Alternatively, the transceiverinterface 1006 may also support any other proprietary wirelesscommunications protocols.

The sensor interface 1007 provides an interface for communicating withone or more sensors on board an autonomous mobile node (as shown in FIG.11). Also, the sensor interface 1007 may include an interface which isoften referred to as “Application Programming Interface” (API). The APImay be implemented in the form of a “device driver” software module withrespect to Processor 1003 inside the processing system 1001. Whenrequested by a system function call running inside the processing system1001, via this API, the requested sensor interface connected to theprocessing system 1001 provides data in the form of a tuple, forexample, <function name, timestamp, device identifier, send/receive datadirection flag, sensor's internal parameter/object classificationidentifier, number of data fields, array of data values> to theprocessor 1003 via the API. Further, each sensor on board may beconfigured to convert its own sensor data to this tuple format eitherperiodically (e.g., every 3 seconds) or upon request by the processingsystem 1001 via the API. Examples of candidate sensor platforms mayinclude, but not limited to, geo-location sensors including GPS, radiofrequency sensors, network quality sensors, chemical sensors, biologicalsensors, camera/image sensors, etc., which may be installed on eachautonomous mobile node.

The navigation interface 1008 provides a means for communicating with anautopilot module or components of the autonomous mobile node. Theautopilot component provides an API through which the apparatus 1000 canobtain or receive data, such as various location information, e.g., GPScoordinates of interest, and issue commands, such as a move command tofly the autonomous mobile node to a specified coordinate location.

The user (human operator) interface 1009 is an optional component whichmay include a keypad, a display, a speaker, a microphone, a joystick, orother user interface elements. The user interface 1009 may be used tocommunicate with the processing system 1001. The user interface 1009 maybe coupled to the autonomous mobile node. Alternatively, the userinterface 1009 may be coupled to the origin node and may be configuredto present a graphical user interface (GUI) on an operator console. Inone implementation, the location information of an origin node and or adestination node can be input to the processing system 1001 of theautonomous mobile node or the origin node via the user interface 1009before launch or deployment. Also, as noted above, the user interface1009 may be used to produce an example of a GUI on the operator console,as shown in FIG. 10C. The GUI interface of FIG. 10C may help a humanoperator on the operator console to monitor and/or override certainautonomous behavior of any networked autonomous mobile node. The GUI1060 may be configured to present multiple graphical areas such as acamera feed view 1063, a node control 1065 of one or more autonomousmobile nodes, and a graphical network view 1067. The camera feed view1063 may display real time images from an autonomous mobile node in theair. The node control 1065 provides the operator with capability tocontrol (e.g., enable or disable) the origin node or destination node,and launching or retrieving one or more autonomous mobile nodes (e.g.,UAV 1, UAV 2, . . . , and UAV N). The graphical network view 1067 maypresent a graphical representation of the communication networkestablished between the origin node and the destination node via the oneor more autonomous mobile nodes.

FIG. 11 illustrates a functional block diagram conceptually illustratinginteractions between a processing system and various on board sensors.As shown in FIG. 11 is a system diagram illustrating how the processingsystem 1001 may use the various sensor interfaces including threeexemplary sensors: geo-location sensor (1102), camera sensor (1103), andchemical/biological sensor (1004). As noted above, each of the sensorinterfaces 1007A, 1007B, and 1007C provides a means for communicatingwith the respective onboard sensor platform. Specifically, each of thethree interfaces (1007A, 1007B, and 1007C) provides data in the form oftuple, that is, <function name, timestamp, device identifier,send/receive data direction flag, sensor's internal data/objectclassification identifier, number of data fields, array of data values>,either periodically or upon request by the processor 1003.

In certain aspects of the present disclosure, various measurement data,such as GPS, received signal quality, communication quality measurementsin terms of signal strength, alternate sensors or measurement metricsmay be used. The alternate sensors or measurement metrics may includeother radio frequency measurements via the radio frequency basedgeo-location sensor 1102 (e.g., from Cognitive Radio Architectures),camera identification or object tracking measurements via the camera orimage sensor 1103, biological or chemical sensor measurements of aircomposition via the chemical/biological sensor 1104, networkmeasurements, such as message delivery quality, etc., via a networkquality sensor. These sensors or sensor systems may be configured toprovide improved situational awareness such as the criticality of eachnode in a communication network or a tentacle.

In an aspect, the processing system 1001 may include a criticallysensitive control (CSC) component, which determines the criticality orimportance of an autonomous mobile node within the communicationnetwork, and attempts to reinforce important locations in the tentacle.For example, using the geo-location sensor 1102, the criticality of anautonomous mobile node at a specific location may be determined by ameasured amount of data traffic passing through the autonomous mobilenode (e.g., measured in Mbps), or determined by a priority of one ormore messages being routed through the autonomous mobile node.

Further, each autonomous mobile node may be assigned a criticality valuebased on the measured amount of data traffic passing through theautonomous mobile node or the priority of the one or more messages beingrouted through the autonomous mobile node. When the criticality value ofan autonomous mobile node exceeds a predetermined threshold, the CSCcomponent may ensure that any available Extra nodes are guided towardsthat autonomous mobile node and positioned between its parent and childnodes, thereby reinforcing a segment of the tentacle established by theautonomous mobile node with the high criticality value. Essentially,each strategically placed Extra node may reinforce the network byreducing the criticality of neighboring nodes by routing some of theirtraffic through it. Further, in an aspect of the present disclosure, theCSC component or functionality can reside in the origin node or any oneof the one or more autonomous mobile nodes forming the tentacleoriginating from the origin node.

FIG. 12A illustrates another example of a block diagram conceptuallyillustrating an autonomous mobile node (AMN) 1200, such as UAV 1,including some example components. The autonomous mobile node 1200 shownin FIG. 12A is configured to include at least a processing system 1001(as shown in FIG. 10A), an autopilot 1201, a GPS 1203, a propulsionsystem 1205, sensors 1207, transceiver(s) 1211, and a power supply 1209.

The autopilot 1201 is responsible for autonomous control and operationof the autonomous mobile node and measures various states of theautonomous mobile node. The autopilot 1201 may include a barometer andan inertial measurement unit (IMU) with one or more accelerometers, oneor more gyroscopes and/or one or more magnetometers providingaccelerations and/or angular rates in the autonomous mobile node.

The GPS 1203 may include a GPS receiver to determine locationinformation such as GPS coordinates of the autonomous mobile node. Thesensors 1207 may include various types of on-board sensors, such as theradio frequency based geo-location sensor 1102, the chemical/biologicalsensor 1104, the camera sensor 1103, the network quality sensor (notshown), as shown in FIG. 11. Using the on-board sensors, various typesof data (or measurement data) may be obtained and processed fordifferent purposes. In one implementation, processing inside each sensormay transform the measurement data into a vector consisting of adirection and magnitude components as part of the specific APIimplementation (e.g., in accordance with methodology described herein inreference to FIG. 4), which is then provided to the processing system1001 via the API. In another aspect, the measurement data from varioussensors can be used to autonomously monitor and/or control the operationof the autonomous mobile node. Alternatively, the measurement data maybe used to identify and/or track a target node (or the second node) onthe ground as described in reference to FIGS. 8 and 9 above.

The propulsion system 1205 may include an engine or other propulsionsystems for the autonomous mobile node. One implementation of thepropulsion system 1205 may further include a plurality of rotors, asshown in FIG. 12C below.

The sensors 1207 may include one or more sensors such as camera sensors1103, geo-location sensors 1007, chemical or biological sensors 1104,etc., as described herein.

The transceiver(s) 1211 may include one or more transceivers and/ortransceiver interface 1006 for communicating with one or more nodes onthe ground or communicating with other autonomous mobile nodes deployedin the air. As noted earlier, the transceiver interface 1006 may beconfigured to support various short and long range wirelesscommunications protocols including UMB, Wi-Fi, WiMax, IEEE 802.20, UWB,Bluetooth, and/or other suitable protocols. The power supply 1209 mayinclude various types of batteries or power supplies for providing powerto electronics and various components on board the autonomous mobilenode 1200.

FIGS. 12B and 12C illustrate example configurations of the hardwarecomponent of an autonomous mobile node. FIG. 12B illustrates a simpleblock diagram of a custom-built enclosure for the autonomous mobile nodeincluding a processing system (e.g., ODROID-U3), a GPS (e.g., AdaFruitGPS Chip), a transceiver (e.g., TP-Link Wi-Fi Device), and a powersupply (e.g., RAVPower Battery Pack). In the example, the processingsystem may include a HardKernel ODROID-U2, the GPS may include anAdafruit Ultimate GPS Breakout v3, the transceiver may include a TP-LINKTL-WN722N Wireless N150 USB adapter, and the power supply may include aRAVPower Element 10400 mAh external USB battery.

FIG. 12C shows one implementation of a hardware system (e.g., Hexarotor)including the propulsion system, sensors and autopilot. In particular,the propulsion system may include six (6) rotors, the sensors mayinclude an electronic compass and altimeter, while the autopilot mayinclude a dedicated Raspberry Pi with proprietary software.

Further, as noted above, the autonomous mobile node may include as anoptional component one or more cameras 1103, such as a video camera or asnapshot camera for capturing video data or image data. The capturedvideo data or image data may be stored and/or transmitted to other nodeincluding an adjacent autonomous mobile node, via the transceiver 1211of the autonomous mobile node. Further, the captured video data or imagedata may be transmitted to the origin node through one or moreautonomous mobile nodes forming a tentacle (e.g., via relaying of thecaptured video data or image data from one autonomous mobile node toanother autonomous mobile node in the tentacle). In one implementation,as the autonomous mobile node navigates, the camera may wirelesslystream video in real time via other autonomous mobile nodes in thetentacle to another autonomous mobile node or an origin node for furtherprocessing of the captured video.

FIGS. 13 and 14 illustrate examples of collaborative navigation inaccordance with certain aspects of the present disclosure. The examplecollaborative navigation maybe achieved by altering a profile of fieldsand assigning virtual destination or origin locations for the purpose ofchanging the overall shape and/or response of the communication networkdeployed. For example, in FIG. 13, the communication network may not betethered to an origin node. Instead, all autonomous mobile nodesdeployed in the air are attracted to a virtual location. The autonomousmobile nodes surround the virtual location, and moving the virtuallocation may result in forming an efficient mobile escort or defenseperimeter. Also, additional fields from sensed obstacles (e.g., Obstacle1) could be added directly into the field strength calculation to ensurethe safety of autonomous mobile nodes (i.e., obstacle avoidance) as theymove in the environment under communication constraints. Similarly, asshown in FIG. 14, the communication network may be a tentacle sweepingan area by moving a virtual destination defined along an arc at itsmaximum range.

As such, the present disclosure described herein provides manyadvantages and benefits. Among many advantages and benefits describedherein, the present disclosure enables multiple autonomous mobile nodesto autonomously control themselves based on various onboard sensor datameasurements and/or network performance. Further, the present disclosuremay enable autonomously coordinating the motion of autonomous mobilenodes deployed in the air in a distributed manner, preventing aformation of suboptimal network, dealing with various types ofautonomous mobile node failures, repairing and reinforcing criticallocations of the communication network using the autonomous mobile nodesdeployed in the air. Further, as described above, the present disclosuremay enable autonomously detecting a signal of interest transmitted by anode, determining location of the node based on information receivedfrom one or more autonomous mobile nodes, and/or dynamically trackingmovement of the node. Further, the present disclosure may enableautonomously detecting presence of a contaminant material anddetermining location of a contamination area based on informationreceived from one or more autonomous mobile nodes.

In another aspect of the present disclosure, various functionalitiesrelating to the present technology disclosed herein may be implementedusing software, hardware, and any combination of software and hardware.Examples of algorithm pseudocode may include pseudocode relating tofunctions such as “main,” “communicate,” and “move,” as follows.

[Pseudocode: Main] Main Set the coordinates of the origin anddestination from file Start communications thread calling Communicateevery 0.2 seconds Start motion thread calling Move every 0.5 seconds EndMain

[Pseudocode: Communicate]  Communicate Do Get a broadcasted messagecontaining values from an adjacent node If the adjacent count > localcount If the adjacent node is the origin or destination Set the storedorigin and destination coordinates End If If the adjacent tentacle stateis complete If other destination nodes exist Set coordinates to the nextdestination End If Else if the adjacent tentacle state is damaged If thelocal role is reinforce Set the local role to free Else if the localrole is tip or backbone Hold position End If End If Set the localtentacle state to adjacent tentacle state If the local role is tip andadjacent role is tip or backbone Set the local role to backbone End IfEnd If Set tentacle proximity to 0 For each adjacent node If adjacentrole is origin or destination or backbone or reinforce Set tentacleproximity to tentacle proximity + 1 End If End For If the tentacleproximity > 1 and the anchor is unknown If the local role is free andthe adjacent role is backbone Set the local role to reinforce Set theanchor to the adjacent node Else if the adjacent role is reinforce andthe local role is backbone Set the anchor to the adjacent node End IfEnd If If the tentacle state is complete and the local role is tip orthe adjacent role is tip Set the tentacle state to damaged End IfBroadcast a message containing local values to all adjacent nodes Whiletrue End Communicate

[Pseudocode: Move] Move Do Set x-force to the difference between thex-coordinate and destination's x- coordinate Set y-force to thedifference between the y-coordinate and destination's y- coordinate Setnext attractor to 0 Set next position to 0 For each adjacent node Ifadjacent tentacle position > next position Set next attractor toadjacent node Set next position to adjacent tentacle position End If EndFor For each adjacent node If adjacent signal > maximum signal Setfactor to signal − maximum signal normalized Else if adjacent signal <minimum signal Set factor to signal − minimum signal normalized Else Setfactor to 0 End If If adjacent role is destination and factor > 0 Setfactor to 0 Else if adjacent role is origin or tip or backbone ordestination Continue Else if role is tip or backbone Set factor to 0Else if role is extra Set factor to 0 Else if factor < 0 Set factor to 0End If Set additional-x-force to factor * normalized distance in x-axisto adjacent node Set additional-y-force to factor * normalized distancein y-axis to adjacent node If adjacent role is destination Set x-forceto x-force + additional-x-force Set y-force to y-force +additional-y-force If local role is free and tentacle state is completeSet local role to extra End If If local role is extra If otherdestination nodes exist Set coordinates to the next destination ElseChange the destination coordinates to the origin End If End If Else ifadjacent role is origin If next attractor is 0 Set x-force to x-force +additional-x-force Set y-force to y-force + additional-y-force End If Iflocal role is orphan Set local role to free End If If local role is freeand tentacle state is complete Set local role to extra End If Else ifadjacent role is tip and local role is not backbone Set x-force tox-force + additional-x-force Set y-force to y-force + additional-y-forceIf local role is orphan Set local role to free End If Else if adjacentrole is backbone If local role is backbone Set x-force to x-force +additional-x-force Set y-force to y-force + additional-y-force Else ifadjacent node is next attractor Set x-force to x-force +additional-x-force Set y-force to y-force + additional-y-force If localrole is orphan Set local role to free End If Else if adjacent role isextra Set x-force to x-force + additional-x-force Set y-force toy-force + additional-y-force Else if adjacent role is free and localrole is free Set x-force to x-force + additional-x-force Set y-force toy-force + additional-y-force End If End For If x-force < threshold andy-force < threshold Set equilibrium to true Else Set equilibrium tofalse End If If there are no adjacent nodes Set local role to orphanElse if local role is tip and equilibrium is true Set x-force to 0 Sety-force to 0 Else if local role is backbone and adjacent nodes < 2 Setlocal role to tip Change local tentacle state to damaged End If If localrole is orphan Set x-force to the difference between the x-coordinateand origin's x- coordinate Set y-force to the difference between they-coordinate and origin's y- coordinate Else if local role is free andequilibrium is true or adjacent role is destination Set local role totip Set tentacle position to tentacle position + 1 If adjacent role isdestination Set tentacle state to complete End If Send desired UAVcoordinates with x-force, y-force While true End Move

As noted above, various functions or operations relating to the presenttechnology disclosed herein (e.g., various flow charts, processdiagrams, algorithms, etc.) may be implemented in one or more processorsor computer systems running in autonomous mobile nodes. As well known inthe art, a general purpose computer typically comprises a centralprocessor or other processing device, an internal communication bus,various types of memory or storage media (RAM, ROM, EEPROM, cachememory, disk drives, etc.) for code and data storage, one or morenetwork interface cards or ports for communication purposes. Thesoftware functionalities involve programming, including instructions orexecutable code as well as associated stored data, e.g., files used forimplementing various operations including operations or functionalitiesdescribed herein in accordance with the present disclosure. The softwarecode may relate to a client or a server or network element functions andmay be executable by the general purpose computer. In operation, asnoted above, the code is stored in a non-transitory machine readablestorage medium within a general purpose computer platform. However, atother times, the software may be stored at other locations and/ortransported for loading into an appropriate general purpose computersystem for execution. Software code for applications or otherprogramming relating to operations and/or functionalities disclosedherein may also be stored in a server and transmitted through a networkfor storage in memories of a client.

In another variation, the method and system in accordance with certainaspects of the present disclosure may operate in a stand-aloneenvironment, such as on a single autonomous mobile node or a groundnode. In another variation, the method and system in accordance withcertain aspects of the present disclosure may operate in a client-serverenvironment or in a distributed computing environment over multiplecomputing platforms including processing systems embodied in multipleautonomous mobile nodes. It is to be understood that the specific orderor hierarchy of steps in the methods disclosed herein is an illustrationof example processes and may be rearranged. Thus, various steps of theaccompanying method claims are presented in a sample order and thus arenot meant to be limited to the specific order or hierarchy presentedunless stated otherwise.

The illustrations and examples provided herein are for explanatorypurposes and are not intended to limit the scope of the appended claims.The present disclosure is to be considered an example embodiment of oneor more inventive concepts and is not intended to limit the spirit andscope of the invention and/or claims of the example illustrated.Further, various modifications to these aspects will be readily apparentto those skilled in the art, and the generic principles defined hereinmay be applied to other aspects. Thus, the claims are not intended to belimited to the aspects shown herein, but is to be accorded the fullscope consistent with the language of the claims, wherein reference toan element in the singular is not intended to mean “one and only one”unless specifically so stated, but rather “one or more.” Unlessspecifically stated otherwise, the term “some” refers to one or more. Aphrase referring to “at least one of” a list of items refers to anycombination of those items, including single members. All structural andfunctional equivalents to the elements of the various aspects describedthroughout this disclosure that are known or later come to be known tothose of ordinary skill in the art are expressly incorporated herein byreference and are intended to be encompassed by the claims. Nothingdisclosed herein is intended to be dedicated to the public regardless ofwhether such disclosure is explicitly recited in the claims. It is alsonoted that no claim element is to be construed under 35 U.S.C. §112, 6thparagraph, or 35 U.S.C. §112(f), whichever is appropriate, unless theclaim element is expressly recited using the phrase “means for” or “stepfor” (as in the case of a method claim).

Further, while there has been illustrated and/or described what arepresently considered to be example features, it will be apparent tothose skilled in the art that various other modifications may be madeand/or equivalents may be substituted, without departing from claimedsubject matter. Additionally, many modifications may be made to adapt aparticular situation to the teachings of claimed subject matter withoutdeparting from the concept(s) described herein. Thus, the claimedsubject matter is intended to be not limited to the particular examplesdisclosed herein, but that such claimed subject matter may also includeall aspects falling within appended claims and/or equivalents thereof.

Various embodiments have been described herein, and the descriptions ofthe various embodiments are intended to be illustrative and are notintended to be limiting. Various modifications and applications may bemade by those skilled in the relevant art, without departing from thescope of the appended claims.

What is claimed is:
 1. A method for wireless communications, comprising:deploying in the air one or more autonomous mobile nodes to establish awireless communication network between a first node and a second node onthe ground, via the one or more autonomous mobile nodes, the wirelesscommunication network comprising a plurality of wireless communicationlinks; and autonomously establishing the plurality of wirelesscommunication links via the one or more autonomous mobile nodes, basedat least in part on data received from the one or more autonomous mobilenodes.
 2. The method of claim 1, further comprising: determining whethera portion of the wireless communication network has been damaged; andautonomously repairing the damaged wireless communication network, upondetermining that the portion of the wireless communication network hasbeen damaged.
 3. The method of claim 2, wherein: determining whether aportion of the wireless communication network is damaged comprisesdetermining whether one of the one or more autonomous mobile nodes thatare deployed is out of communications; and autonomously repairing thewireless communication network comprises replacing the autonomous mobilenode that is determined to be out of communications, with anotherautonomous mobile node coupled to the wireless communication network. 4.The method of claim 1, wherein deploying in the air one or moreautonomous mobile nodes comprises launching the one or more autonomousmobile nodes towards the first node on the ground.
 5. The method ofclaim 1, wherein the data comprises information on roles of the one ormore autonomous mobile nodes in the wireless communication network,signal strength, or quality of signals received from the one or moreautonomous mobile nodes.
 6. The method of claim 1, wherein: autonomouslyestablishing the plurality of wireless communication links comprisesnavigating the one or more autonomous mobile nodes, based on fieldsdetermined from the received data from the one or more autonomous mobilenodes, each field being configured to comprise a field strengthcomponent and a velocity component and to result in attraction orrepulsion of the one or more autonomous mobile nodes.
 7. A method forwireless communications comprising: autonomously flying an autonomousmobile apparatus towards a first node on the ground; establishingwireless communications with the first node on the ground; andautonomously navigating the autonomous mobile apparatus to a locationtowards a second node on the ground, based at least in part on datareceived from the first node or data received from one or moreautonomous mobile nodes deployed in the air to form a wirelesscommunication network.
 8. The method of claim 7, further comprising:determining whether there is a tentacle associated with the first node,wherein the tentacle comprises one or more wireless communication linksestablished by the one or more autonomous mobile nodes; when it isdetermined that there is a tentacle associated with the first node,navigating the autonomous mobile apparatus along the tentacle towardsthe location based at least in part on the data received from the one ormore autonomous mobile nodes, the data being measurement data receivedfrom one or more sensors onboard the autonomous mobile apparatus or theone or more autonomous mobile nodes; or when it is determined that thereis no tentacle associated with the first node, navigating the autonomousmobile apparatus towards the location, based at least in part on thereceived data from the first node.
 9. The method of claim 7, wherein:the data comprise field information based on received measurement datafrom one or more sensors onboard the autonomous mobile apparatus or theone or more autonomous mobile nodes; and the field information comprisesfields, each field configured to comprise a field strength component anda velocity component, and to result in attraction or repulsion of theautonomous mobile apparatus.
 10. The method of claim 8, furthercomprising: determining whether a wireless communication link with asecond node on the ground has been established; and upon determiningthat the wireless communication link with the second node has beenestablished, establishing the tentacle comprising the wirelesscommunication network between the first node and the second node on theground via the autonomous mobile apparatus and the one or moreautonomous mobile nodes deployed in the air.
 11. The method of claim 10,further comprising determining whether the wireless communicationnetwork has been damaged.
 12. The method of claim 11, whereindetermining whether the wireless communication network has been damagedcomprises: sending a probe signal to a first adjacent autonomous mobilenode in the tentacle; and in response to the probe signal, receiving aresponse signal from the first adjacent autonomous mobile node within aperiod of time set by a timer; or in response to the probe signal andupon expiration of the timer, determining that the first adjacentautonomous mobile node is out of communications.
 13. The method of claim12, further comprising: after determining that the wirelesscommunication network has been damaged, communicating with a secondadjacent autonomous mobile node in the tentacle to replace the firstadjacent autonomous mobile node with another autonomous mobile node; andre-establishing the wireless communication network between the firstnode and the second node via at least the another autonomous mobilenode.
 14. The method of claim 7, wherein the data further compriseinformation on at least one of: a role of the autonomous mobileapparatus, roles of the one or more autonomous mobile nodes, signalstrength, or quality of signals received from the one or more autonomousmobile nodes.
 15. An autonomous mobile apparatus, comprising: a memory;and at least one processor coupled to the memory, wherein the at leastone processor is configured to: navigate the autonomous mobile apparatustoward a first node; receive measurement data from one or more sensorsonboard the autonomous mobile apparatus; convert the measurement datainto field information, the field information comprising fields eachbeing configured to result in an attractive force or a repulsive force;based on the field information, navigate the autonomous mobileapparatus.
 16. The autonomous mobile apparatus of claim 15, wherein theautonomous mobile apparatus comprises an unmanned aerial vehicle (UAV).17. The autonomous mobile apparatus of claim 15, wherein the at leastone processor is further configured to establish wireless communicationswith either the first node or another autonomous mobile apparatus. 18.The autonomous mobile apparatus of claim 15, wherein the one or moresensors include at least one of: a radio geo-location sensor, an imagesensor, a chemical sensor, or a biological sensor.
 19. The autonomousmobile apparatus of claim 15, wherein the at least one processor isfurther configured to: determine whether there is a tentacle establishedwith the first node, the tentacle being configured to comprise one ormore wireless communication links established by one or more autonomousmobile apparatuses; when it is determined that there is a tentacleestablished with the first node, navigate the autonomous mobileapparatus along the tentacle to a location based on the fieldinformation; or when it is determined that there is no tentacleestablished with the first node, establish a wireless communication linkwith the first node, thereby forming the tentacle with the first node.20. The autonomous mobile apparatus of claim 19, wherein the at leastone processor is further configured to: determine whether a second nodeon the ground is within a wireless communications range of theautonomous mobile apparatus; and upon determining that the second nodeon the ground is within the wireless communications range of theautonomous mobile apparatus, establish a wireless communications linkwith the second node on the ground, thereby establishing the tentaclecomprising a wireless communication network between the first node andthe second node on the ground.
 21. The autonomous mobile apparatus ofclaim 19, wherein the at least one processor is further configured to:process the measurement data from the one or more sensors, the one ormore sensors being configured to include at least one image sensor;detect presence of a second node on the ground based on the measurementdata; and transform the measurement data into the field information. 22.The autonomous mobile apparatus of claim 21, wherein the at least oneprocessor is further configured to, upon detecting the presence of thesecond node on the ground, dynamically track movement of the second nodeon the ground.
 23. The autonomous mobile apparatus of claim 22, whereinthe at least one processor is further configured to: represent thesecond node on the ground as a virtual node in determining theattractive and/or repulsive force; and navigate the autonomous mobileapparatus based on the field information.
 24. The autonomous mobileapparatus of claim 22, wherein the at least one processor is furtherconfigured to: capture a video of the movement of the second node on theground; and transmit the captured video to the first node via thetentacle.
 25. The autonomous mobile apparatus of claim 19, wherein theat least one processor is further configured to: process the measurementdata from the one or more sensors, the one or more sensors beingconfigured to include at least one radio frequency (RF) geo-locationsensor and the measurement data comprising detection probability of a RFsignal emitted by a second node on the ground; based on the measurementdata, determine whether the second node is present on the ground; andupon determining that the second node is present on the ground,communicate to attract one or more autonomous mobile apparatuses to alocation close to the second node on the ground.
 26. The autonomousmobile apparatus of claim 25, wherein the at least one processor isfurther configured to transmit to the first node, via the tentacle, adetermined location of the second node on the ground.
 27. The autonomousmobile apparatus of claim 19, wherein the at least one processor isfurther configured to: process the measurement data from the one or moresensors, the one or more sensors being configured to include at leastone biological or chemical sensor and the measurement data comprising adetected level of a target contaminant material; determine whether thedetected level of the target contaminant material is greater than orequal to a predetermined value; upon determining that the detected levelof the target contaminant material is greater than or equal to thepredetermined value, communicate to the first node via the tentacleinformation on the detected level of the target contaminant material.28. The autonomous mobile apparatus of claim 27, wherein the at leastone processor is further configured to determine location of thedetected target contaminant material, based on information received fromthe one or more autonomous mobile apparatuses which detected the targetcontaminant material.